2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
3 Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
4 Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
8 #include "libs/Kernel.h"
9 #include "libs/Module.h"
10 #include "libs/Config.h"
11 #include "libs/nuts_bolts.h"
12 #include "libs/SlowTicker.h"
14 #include "libs/StreamOutputPool.h"
16 #include "checksumm.h"
17 #include "ConfigValue.h"
19 #include "libs/StepTicker.h"
20 #include "libs/PublicData.h"
21 #include "modules/communication/SerialConsole.h"
22 #include "modules/communication/GcodeDispatch.h"
23 #include "modules/robot/Planner.h"
24 #include "modules/robot/Robot.h"
25 #include "modules/robot/Conveyor.h"
26 #include "StepperMotor.h"
27 #include "BaseSolution.h"
28 #include "EndstopsPublicAccess.h"
29 #include "Configurator.h"
30 #include "SimpleShell.h"
32 #include "platform_memory.h"
38 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
39 #define uart0_checksum CHECKSUM("uart0")
41 #define base_stepping_frequency_checksum CHECKSUM("base_stepping_frequency")
42 #define microseconds_per_step_pulse_checksum CHECKSUM("microseconds_per_step_pulse")
43 #define acceleration_ticks_per_second_checksum CHECKSUM("acceleration_ticks_per_second")
44 #define disable_leds_checksum CHECKSUM("leds_disable")
45 #define grbl_mode_checksum CHECKSUM("grbl_mode")
46 #define ok_per_line_checksum CHECKSUM("ok_per_line")
48 Kernel
* Kernel::instance
;
50 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
55 instance
= this; // setup the Singleton instance of the kernel
57 // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
58 // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
59 this->serial
= new SerialConsole(USBTX
, USBRX
, DEFAULT_SERIAL_BAUD_RATE
);
61 // Config next, but does not load cache yet
62 this->config
= new Config();
64 // Pre-load the config cache, do after setting up serial so we can report errors to serial
65 this->config
->config_cache_load();
67 // now config is loaded we can do normal setup for serial based on config
71 this->streams
= new StreamOutputPool();
73 this->current_path
= "/";
75 // Configure UART depending on MRI config
76 // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
77 NVIC_SetPriorityGrouping(0);
80 switch( __mriPlatform_CommUartIndex() ) {
82 this->serial
= new(AHB0
) SerialConsole(USBTX
, USBRX
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
85 this->serial
= new(AHB0
) SerialConsole( p13
, p14
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
88 this->serial
= new(AHB0
) SerialConsole( p28
, p27
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
91 this->serial
= new(AHB0
) SerialConsole( p9
, p10
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
96 if(this->serial
== NULL
) {
97 this->serial
= new(AHB0
) SerialConsole(USBTX
, USBRX
, this->config
->value(uart0_checksum
,baud_rate_setting_checksum
)->by_default(DEFAULT_SERIAL_BAUD_RATE
)->as_number());
100 //some boards don't have leds.. TOO BAD!
101 this->use_leds
= !this->config
->value( disable_leds_checksum
)->by_default(false)->as_bool();
102 this->grbl_mode
= this->config
->value( grbl_mode_checksum
)->by_default(false)->as_bool();
103 this->ok_per_line
= this->config
->value( ok_per_line_checksum
)->by_default(true)->as_bool();
105 this->add_module( this->serial
);
108 add_module( this->slow_ticker
= new SlowTicker());
110 this->step_ticker
= new StepTicker();
111 this->adc
= new(AHB0
) Adc();
113 // TODO : These should go into platform-specific files
115 NVIC_SetPriorityGrouping(0);
116 NVIC_SetPriority(TIMER0_IRQn
, 2);
117 NVIC_SetPriority(TIMER1_IRQn
, 1);
118 NVIC_SetPriority(TIMER2_IRQn
, 4);
119 NVIC_SetPriority(PendSV_IRQn
, 3);
121 // Set other priorities lower than the timers
122 NVIC_SetPriority(ADC_IRQn
, 5);
123 NVIC_SetPriority(USB_IRQn
, 5);
127 if( NVIC_GetPriority(UART0_IRQn
) > 0 ){ NVIC_SetPriority(UART0_IRQn
, 5); }
128 if( NVIC_GetPriority(UART1_IRQn
) > 0 ){ NVIC_SetPriority(UART1_IRQn
, 5); }
129 if( NVIC_GetPriority(UART2_IRQn
) > 0 ){ NVIC_SetPriority(UART2_IRQn
, 5); }
130 if( NVIC_GetPriority(UART3_IRQn
) > 0 ){ NVIC_SetPriority(UART3_IRQn
, 5); }
132 NVIC_SetPriority(UART0_IRQn
, 5);
133 NVIC_SetPriority(UART1_IRQn
, 5);
134 NVIC_SetPriority(UART2_IRQn
, 5);
135 NVIC_SetPriority(UART3_IRQn
, 5);
138 // Configure the step ticker
139 this->base_stepping_frequency
= this->config
->value(base_stepping_frequency_checksum
)->by_default(100000)->as_number();
140 float microseconds_per_step_pulse
= this->config
->value(microseconds_per_step_pulse_checksum
)->by_default(5)->as_number();
141 this->acceleration_ticks_per_second
= THEKERNEL
->config
->value(acceleration_ticks_per_second_checksum
)->by_default(1000)->as_number();
143 // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
144 this->step_ticker
->set_unstep_time( microseconds_per_step_pulse
);
145 this->step_ticker
->set_frequency( this->base_stepping_frequency
);
148 this->add_module( this->gcode_dispatch
= new GcodeDispatch() );
149 this->add_module( this->robot
= new Robot() );
150 this->add_module( this->conveyor
= new Conveyor() );
151 this->add_module( this->simpleshell
= new SimpleShell() );
153 this->planner
= new(AHB0
) Planner();
154 this->configurator
= new Configurator();
157 // return a GRBL-like query string for serial ?
158 std::string
Kernel::get_query_string()
162 bool ok
= PublicData::get_value(endstops_checksum
, get_homing_status_checksum
, 0, &homing
);
163 if(!ok
) homing
= false;
168 str
.append("Alarm,");
171 }else if(feed_hold
) {
173 }else if(this->conveyor
->is_idle()) {
181 // get real time current actuator position in mm
182 ActuatorCoordinates current_position
{
183 robot
->actuators
[X_AXIS
]->get_current_position(),
184 robot
->actuators
[Y_AXIS
]->get_current_position(),
185 robot
->actuators
[Z_AXIS
]->get_current_position()
188 // get machine position from the actuator position using FK
190 robot
->arm_solution
->actuator_to_cartesian(current_position
, mpos
);
194 size_t n
= snprintf(buf
, sizeof(buf
), "%1.4f,%1.4f,%1.4f,", robot
->from_millimeters(mpos
[0]), robot
->from_millimeters(mpos
[1]), robot
->from_millimeters(mpos
[2]));
195 str
.append("MPos:").append(buf
, n
);
197 // work space position
198 Robot::wcs_t pos
= robot
->mcs2wcs(mpos
);
199 n
= snprintf(buf
, sizeof(buf
), "%1.4f,%1.4f,%1.4f", robot
->from_millimeters(std::get
<X_AXIS
>(pos
)), robot
->from_millimeters(std::get
<Y_AXIS
>(pos
)), robot
->from_millimeters(std::get
<Z_AXIS
>(pos
)));
200 str
.append("WPos:").append(buf
, n
);
204 // return the last milestone if idle
207 Robot::wcs_t mpos
= robot
->get_axis_position();
208 size_t n
= snprintf(buf
, sizeof(buf
), "%1.4f,%1.4f,%1.4f,", robot
->from_millimeters(std::get
<X_AXIS
>(mpos
)), robot
->from_millimeters(std::get
<Y_AXIS
>(mpos
)), robot
->from_millimeters(std::get
<Z_AXIS
>(mpos
)));
209 str
.append("MPos:").append(buf
, n
);
211 // work space position
212 Robot::wcs_t pos
= robot
->mcs2wcs(mpos
);
213 n
= snprintf(buf
, sizeof(buf
), "%1.4f,%1.4f,%1.4f", robot
->from_millimeters(std::get
<X_AXIS
>(pos
)), robot
->from_millimeters(std::get
<Y_AXIS
>(pos
)), robot
->from_millimeters(std::get
<Z_AXIS
>(pos
)));
214 str
.append("WPos:").append(buf
, n
);
221 // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
222 void Kernel::add_module(Module
* module
){
223 module
->on_module_loaded();
226 // Adds a hook for a given module and event
227 void Kernel::register_for_event(_EVENT_ENUM id_event
, Module
*mod
){
228 this->hooks
[id_event
].push_back(mod
);
231 // Call a specific event with an argument
232 void Kernel::call_event(_EVENT_ENUM id_event
, void * argument
){
234 if(id_event
== ON_HALT
) {
235 this->halted
= (argument
== nullptr);
236 was_idle
= conveyor
->is_queue_empty(); // see if we were doing anything like printing
239 // send to all registered modules
240 for (auto m
: hooks
[id_event
]) {
241 (m
->*kernel_callback_functions
[id_event
])(argument
);
244 if(id_event
== ON_HALT
&& this->halted
&& !was_idle
) {
245 // we need to try to correct current positions if we were running
246 this->robot
->reset_position_from_current_actuator_position();
250 // These are used by tests to test for various things. basically mocks
251 bool Kernel::kernel_has_event(_EVENT_ENUM id_event
, Module
*mod
)
253 for (auto m
: hooks
[id_event
]) {
254 if(m
== mod
) return true;
259 void Kernel::unregister_for_event(_EVENT_ENUM id_event
, Module
*mod
)
261 for (auto i
= hooks
[id_event
].begin(); i
!= hooks
[id_event
].end(); ++i
) {
263 hooks
[id_event
].erase(i
);